The invention relates to a self-propelled and self-steering floor cleaning device, comprising two cleaning rollers (46, 52, 150) that are rotationally driven by at least one drive unit (78, 84, 158) and have cleaning elements (64) for cleaning a floor surface (12), said cleaning rollers (46, 52, 150) being oriented at an angle (80) with respect to each other and the floor-cleaning device (10; 110; 120; 140) being movable across the floor surface (12) with the cleaning rollers (46, 52, 150) rotating. The invention further relates to a method for cleaning a floor surface.